hap config file description
The demo content of config.json file is showed as below:
{
"HAP": {
"lidar_net_info" : {
"cmd_data_port": 56000,
"push_msg_port": 0,
"point_data_port": 57000,
"imu_data_port": 58000,
"log_data_port": 59000
},
"host_net_info" : {
"cmd_data_ip" : "192.168.1.5",
"cmd_data_port": 56000,
"push_msg_ip": "",
"push_msg_port": 0,
"point_data_ip": "192.168.1.5",
"point_data_port": 57000,
"imu_data_ip" : "192.168.1.5",
"imu_data_port": 58000,
"log_data_ip" : "",
"log_data_port": 59000
}
}
}
The customer is responsed for the config.json file, so here are the rules how to configure the file:
1 "device_type" : "HAP" is fixed string and not allowed to change.
2 lidar_ipaddr：This demo will auto scan and connect all lidars in the same network. Please use SetLivoxLidarIp() interface to set lidar_ipaddr if you want to connect designated one.
3 lidar_net_info: push_msg_port and host_net_info:push_msg_ip and host_net_info:push_msg_port should be ignored as keep to be empty or 0.
4 host_net_info:cmd_data_ip and host_net_info:log_data_ip should be configured as the same IP address.
5 host_net_info:point_data_ip and host_net_info:imu_data_ip should be config as the same ip address. If these two IP both configured as empty, point data and imu data will be sent to the ip address as the same as host_net_info:cmd_data_ip.
6 The constraints for the command data are as below:
The cmd_data_port of the HAP lidar is 56000 and it can’t be changed
7 The constraints for the point cloud data & IMU data are as below:
The point_data_port for lidar and host are 57000 and it can not be changed.
The imu_data_port for lidar and host are 58000 and it can not be changed.
The imu_data_ip and point_data_ip should be the same.
8 The constraints for the log data are as below:
The log_data_port for lidar and host are 59000 and it can not be changed.
The log_data_ip is the same as cmd_data_port.
log function is not supported right now.